Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-28 10:43:58 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Networking: make can multicast an endpoint by default

Browse Source 
also add option to enable multicast with bridging to CAN bus in application
and disabled in bootloader
This commit is contained in:
bugobliterator 2025-01-30 12:01:21 +11:00 committed by Randy Mackay
parent fcff2e6f57
commit 1e067622d2
5 changed files with 60 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_Networking/AP_Networking.cpp
View File

@ -90,7 +90,7 @@ const AP_Param::GroupInfo AP_Networking::var_info[] = {
// @Param: OPTIONS
// @DisplayName: Networking options
// @Description: Networking options
// @Bitmask: 0:EnablePPP Ethernet gateway, 1:Enable CAN1 multicast gateway, 2:Enable CAN2 multicast gateway
// @Bitmask: 0:EnablePPP Ethernet gateway, 1:Enable CAN1 multicast endpoint, 2:Enable CAN2 multicast endpoint, 3:Enable CAN1 multicast bridged, 4:Enable CAN2 multicast bridged
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("OPTIONS", 9, AP_Networking, param.options, 0),
@ -199,14 +199,14 @@ void AP_Networking::init()
start_tests();
#endif
#if AP_NETWORKING_CAN_MCAST_ENABLED && !defined(HAL_BOOTLOADER_BUILD)
if (option_is_set(OPTION::CAN1_MCAST_GATEWAY) || option_is_set(OPTION::CAN2_MCAST_GATEWAY)) {
#if AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
if (option_is_set(OPTION::CAN1_MCAST_ENDPOINT) || option_is_set(OPTION::CAN1_MCAST_ENDPOINT)) {
// get mask of enabled buses
uint8_t bus_mask = 0;
if (option_is_set(OPTION::CAN1_MCAST_GATEWAY)) {
if (option_is_set(OPTION::CAN1_MCAST_ENDPOINT)) {
bus_mask |= (1U<<0);
}
if (option_is_set(OPTION::CAN2_MCAST_GATEWAY)) {
if (option_is_set(OPTION::CAN1_MCAST_ENDPOINT)) {
bus_mask |= (1U<<1);
}
mcast_server.start(bus_mask);

15
libraries/AP_Networking/AP_Networking.h
View File

@ -157,14 +157,25 @@ public:
enum class OPTION {
PPP_ETHERNET_GATEWAY=(1U<<0),
#if AP_NETWORKING_CAN_MCAST_ENABLED
CAN1_MCAST_GATEWAY=(1U<<1),
CAN2_MCAST_GATEWAY=(1U<<2),
CAN1_MCAST_ENDPOINT=(1U<<1),
CAN2_MCAST_ENDPOINT=(1U<<2),
#if AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
CAN1_MCAST_BRIDGED=(1U<<3),
CAN2_MCAST_BRIDGED=(1U<<4),
#endif
#endif
};
bool option_is_set(OPTION option) const {
return (param.options.get() & int32_t(option)) != 0;
}
#if AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
bool is_can_mcast_ep_bridged(uint8_t bus) const {
return (option_is_set(OPTION::CAN1_MCAST_BRIDGED) && bus == 0) ||
(option_is_set(OPTION::CAN2_MCAST_BRIDGED) && bus == 1);
}
#endif
private:
static AP_Networking *singleton;

41
libraries/AP_Networking/AP_Networking_CAN.cpp
View File

@ -117,7 +117,7 @@ void AP_Networking_CAN::mcast_server(void)
}
if (!cbus->register_frame_callback(
FUNCTOR_BIND_MEMBER(&AP_Networking_CAN::can_frame_callback, void, uint8_t, const AP_HAL::CANFrame &),
FUNCTOR_BIND_MEMBER(&AP_Networking_CAN::can_frame_callback, void, uint8_t, const AP_HAL::CANFrame &, AP_HAL::CANIface::CanIOFlags),
callback_id)) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "CAN_MCAST[%u]: failed to register", unsigned(bus));
goto de_allocate;
@ -180,14 +180,30 @@ void AP_Networking_CAN::mcast_server(void)
*/
AP_HAL::CANFrame frame;
const uint16_t timeout_us = 2000;
#if AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
const bool bridged = AP::network().is_can_mcast_ep_bridged(bus);
#endif
while (frame_buffers[bus]->peek(frame)) {
auto retcode = get_caniface(bus)->send(frame,
AP_HAL::micros64() + timeout_us,
AP_HAL::CANIface::IsMAVCAN);
auto *cbus = get_caniface(bus);
if (cbus == nullptr) {
break;
}
#if AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
if (bridged) {
auto retcode = cbus->send(frame, AP_HAL::micros64() + timeout_us,
AP_HAL::CANIface::IsForwardedFrame);
if (retcode == 0) {
break;
}
} else
#endif
{
// only call the AP_HAL::CANIface send if we are not in bridged mode
cbus->AP_HAL::CANIface::send(frame, AP_HAL::micros64() + timeout_us,
AP_HAL::CANIface::IsForwardedFrame);
}
// we either sent it or there was an error, either way we discard the frame
frame_buffers[bus]->pop();
}
@ -199,12 +215,27 @@ void AP_Networking_CAN::mcast_server(void)
handler for CAN frames from the registered callback, sending frames
out as multicast UDP
*/
void AP_Networking_CAN::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame)
void AP_Networking_CAN::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame, AP_HAL::CANIface::CanIOFlags flags)
{
if (bus >= HAL_NUM_CAN_IFACES || mcast_sockets[bus] == nullptr) {
return;
}
#if AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
// check if bridged mode is enabled
const bool bridged = AP::network().is_can_mcast_ep_bridged(bus);
#else
// never bridge in bootloader, as we can cause loops if multiple
// bootloaders with mcast are running on the same network and CAN Bus
const bool bridged = false;
#endif
if ((flags & AP_HAL::CANIface::IsForwardedFrame) && !bridged) {
// we don't forward frames that we received from the multicast
// server if not in bridged mode
return;
}
struct mcast_pkt pkt {};
pkt.magic = MCAST_MAGIC;
pkt.flags = 0;

2
libraries/AP_Networking/AP_Networking_CAN.h
View File

@ -9,7 +9,7 @@ public:
private:
void mcast_server(void);
void can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame);
void can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame, AP_HAL::CANIface::CanIOFlags flags);
SocketAPM *mcast_sockets[HAL_NUM_CAN_IFACES];
uint8_t bus_mask;

4
libraries/AP_Networking/AP_Networking_Config.h
View File

@ -107,6 +107,10 @@
#define AP_NETWORKING_CAN_MCAST_ENABLED 0
#endif
#ifndef AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED
#define AP_NETWORKING_CAN_MCAST_BRIDGING_ENABLED AP_NETWORKING_CAN_MCAST_ENABLED
#endif
#if AP_NETWORKING_TESTS_ENABLED
#ifndef AP_NETWORKING_TEST_IP
#define AP_NETWORKING_TEST_IP "192.168.144.2"